Method and system to dynamically and intelligently enable access to UAVs in any location

ABSTRACT

A method and system for enabling access to an unmanned aerial vehicle are disclosed. The method includes receiving a request from a user for access to an unmanned aerial vehicle through a control system. The method further includes making a determination of whether to grant access to the control system. If the determination is made to grant access the control system then receiving alternate mission parameters for an alternate mission from the user. The method also includes making a decision about whether to implement the alternate mission based on a set of predetermined policies. If the decision is to implement the alternate mission then implementing the alternate mission and saving the alternate mission parameters.

TECHNICAL FIELD

Embodiments of the present inventions relate to methods and systems forcontrolling unmanned vehicles (UVs), and more particularly to methodsand systems that enable control of an Unmanned Arial Vehicle (“UAV”) bymore than one entity in any location.

BACKGROUND

Today a large number of companies are greatly expanding their use ofUAVs. UAVs have been used for military applications, search-and-rescuemissions, scientific research, delivering goods, and other uses. UAVscan include a plurality of airborne platforms or air vehicles, eachcarrying a plurality of sensors that may be used to collect informationabout an area under surveillance or to deliver a payload to a certainlocation. The airborne platforms may communicate with users, which mayinclude persons or equipment, that desire access to data collected bythe sensors or desire to control the UAV. More sophisticated UAVs havebuilt-in control and/or guidance systems to perform low-level humanpilot duties, such as speed and flight path surveillance, and simplepre-scripted navigation functions. UAV security is a high priority inaerospace and defense applications. Secure communication links are vitalfor UAV operation, both to control the UAV based on mission objectivesand to deliver data reliably to mission controllers on the ground.Encryption and decryption are inherent requirements, adding complexityand cost in the electronics.

While UAVs are being deployed to perform various tasks, there arenumerous security measures being taken so there is no chance of securitybreach while these UAVs are flying in open skies. When communication isbetween two pre-defined entities in this case, the UAV and the commandcenter, it is fairly simple to secure such communication with necessaryencryption and usual secure access enabling mechanisms. However,enabling UAVs to communicate with a number of users creates potentialsecurity issues, especially if those users are dynamically added to alist of operators who can access and command the UAV. The problem is notonly how to grant access to users securely, which is a major securityconcern, but also to manage the level of control over the UAV and toenable the UAV to decide intelligently to respond to the commands of theusers with limited resources while flying from one location to anotherlocation.

There is a need to securely enable access by different users indifferent locations to a UAV. There is also a need for the UAV to besecurely accessed by multiple entities to perform alternate tasks whileprioritizing not only its primary task over secondary objectives butalso prioritizing the users accessing the UAV.

SUMMARY

In an embodiment, a method for dynamically and intelligently enablingsecure access to UAVs in any location may comprise receiving a requestfrom a user for access to a UAV through a control system and making adetermination of whether to grant access to the control system. If thedetermination is to grant access then the method includes the step ofreceiving alternate mission parameters for an alternate mission. Themethod may also comprise making a decision about whether to implementthe alternate mission and if the decision is to implement the alternatemission then implementing the alternate mission.

In another embodiment, a system to dynamically and intelligently enableaccess to unmanned vehicles in any location may comprise an unmannedvehicle, an unmanned vehicle control system; and a mission policymanagement subsystem coupled to the unmanned vehicle control system. Themission policy management subsystem may comprise a mission informationsubsystem, an environment information subsystem, and a mission decisionengine coupled to the mission information subsystem and the environmentinformation subsystem.

In another embodiment, a method of controlling an unmanned vehicle maycomprise determining whether a user has authorization to control theunmanned vehicle; if the user has authorization, then receivingalternate mission parameters from the user. The method may also comprisemaking a determination about whether to perform an alternate missionbased on the alternate mission parameters, a set of policies, andinformation about a state of the unmanned vehicle. If a determination ismade that the alternate mission should be performed, then performing thealternate mission, and storing information about the determination. Ifit is determined that the alternate mission should not be performed thendetermining whether there is a second unmanned vehicle that may becapable of performing the alternate mission.

BRIEF DESCRIPTION OF THE DRAWINGS

The following detailed description of preferred embodiments is betterunderstood when read in conjunction with the appended drawings. For thepurposes of illustration, there is shown in the drawings exemplaryembodiments; however, the subject matter is not limited to the specificelements and instrumentalities disclosed. In the drawings:

FIG. 1 is a schematic representation of a system environment in whichthe methods and systems to dynamically and intelligently enable accessto UAVs in any location may be implemented.

FIG. 2 is a system diagram of a UAV control system.

FIG. 3 is a system diagram of an embodiment of a UAV ground controlstation.

FIG. 4 is a system diagram of an embodiment of an access managementsystem.

FIG. 5 is a system diagram of an embodiment of a mission policymanagement system.

FIG. 6 is a flow diagram of an embodiment of a method for dynamicallyand intelligently enabling access to UAVs in any location.

FIG. 7 is a flow diagram of an embodiment of a method for authenticatingand authorizing a user.

FIG. 8 is a flow diagram of an embodiment of a method for controlling anunmanned vehicle.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

System Environment.

Illustrated in FIG. 1 is a schematic representation of a systemenvironment 1 in which the present invention operates. The systemenvironment 1 includes UAV 2 and UAV 3 each carrying sensors (sensor 4and sensor 5) for collecting information or payloads (payload 6 andpayload 7) for delivery. Although two UAVs are illustrated in FIG. 1, itis contemplated that the system environment 1 would encompass aplurality of UAVs. UAV 2 and UAV 3 may communicate with a ground controlstation 8 and a plurality of user devices (user device 9, user device10, and user device 11). Ground control station 8 may communicate withUAV 2 through a network 12 or an RF transmitter 13. Similarly userdevice 11 may communicate with UAV 3 through the network 12 or an RFtransmitter 14. Network 12 may be a distributed network such as theInternet or a wireless cellular network. User device 9, user device 10and user device 11 may comprise any wireless device such as a cellphone, a smart phone, personal data assistants (PDA) or a personalcomputer such as a desktop, a laptop computer or a tablet computer.Ground control station 8 may be part of a command and control center(not shown). The command and control center is typically a facility thatoperates as the operating entity's dispatch center, surveillancemonitoring center, coordination office and alarm monitoring center allin one. Command and control centers are operated by the operatingentity.

UAV Control System.

FIG. 2 is a block diagram illustrating the main hardware and systemcomponents of one embodiment of a UAV control system 51. The UAV controlsystem 51 includes a central processing unit (CPU 53), which isresponsible for processing data and executing commands and instructions.The CPU 53 may be responsible for processing sensor data, handling I/Oto a GPS receiver 55, a UAV transmitter/receiver 57, and bypass circuit59, thereby enabling communications with the ground station. The UAVcontrol system 51 is provided with sufficient memory to store theautopilot source code storage and effect runtime execution. The CPU 53is in electronic communication with various sensors and is responsiblefor processing raw data from the various sensors such as sensor 60 andstoring and transmitting the data. Data is stored in memory 61, which isin electronic communication with the CPU 53. The memory 61 may includerandom access memory (RAM), flash memory or any other type of memorytechnology currently available. To control a UAV such as UAV 2 in FIG.1, the UAV control system 51 must have access to the locationcoordinates of UAV 2. These coordinates are measured using the GPSreceiver 55 that is in electronic communication with the CPU 53. The GPSreceiver 55 receives its data through a GPS antenna 65. The fixedrotational rates of UAV 2 may be measured by rate gyros 67 a, 67 b, and67 c which are in electronic communication with the CPU 53. The rategyros 67 a, 67 b and 67 c are disposed to enable sensing off therotational rates about the body axes of the UAV 2. The altitude of theUAV may be measured using an absolute pressure sensor 69 that is inelectronic communication with the CPU 53. Acceleration in the x, y, andz axes may be measured by accelerometers 26 a, 26 b, and 26 c which arein electronic communication with the CPU 53. The velocity of UAV 2 maybe measured using a differential pressure sensor 73 in electroniccommunication with the CPU 53. The differential pressure sensor 73outputs a voltage based on the difference in pressure between its twoexternal ports. A pitot tube is connected to one of the ports and theother is left open to the ambient air. The flow of air against the Pitottube causes a pressure difference proportional to the speed of the air.The corresponding voltage produced by the differential pressure sensor73 is used to calculate the airspeed of the UAV 2. The CPU 53 may bealso in electronic communication with payload inputs 75 which mayinclude data from a video processing unit or any other data thatinvolves a payload (such as payload 6) on the UAV. The UAV is controlledusing flight actuators 77 which include servos in electroniccommunication with the CPU 53 that control the flight of the UAV 2. Thebypass circuit 59 may be provided to allow a user to take control of theUAV 2. The UAV control system 51 is electrically connected to a powersource 81. In one embodiment the power source 81 may include a pluralityof batteries. The power source 81 may be used to power the UAV controlsystem 51 and connected accessories. The power source 81 may also beused to power an actuator 83 that propels the UAV 2. The UAV controlsystem 51 may be provided with an RC control system 85 that allows auser to take control of a UAV (such as UAV 3) using an RF transmittersuch as RF transmitter 14 or RF transmitter 13 shown in FIG. 1.

The UAV control system 51 may interact with an access management system87 and a mission policy management system 89, which are described inmore detail below, and that control access to the UAV control system 51by user devices such as user device 11 (shown in FIG. 1). The accessmanagement system 87 and the mission policy management system 89 may beimplemented in the UAV 2 or in the network 12.

Ground Control Station.

FIG. 3 is a block diagram illustrating the main hardware components of aground control station 8. The ground control station 8 includes a groundstation computer 100. The ground station computer 100 may be a laptopcomputer, a desktop computer, a personal digital assistant, a tablet PC,a wireless device such as a smart phone or similar devices. The groundstation computer 100 runs ground station system software 101 as well asuser interface software 102. The ground station computer 100 may alsorun policy management software 103 that provides mission managementparameters to the UAV during operations. The ground station computer 100is in electronic communication with a ground unit 104. Electroniccommunication between the ground station computer 100 and the groundunit 104 may be accomplished via a serial or USB port. Ground unit 104may include CPU 105, memory 106, a payload processing system 107, aground transmitter/receiver 108, and a ground antenna 109. CPU 105processes data from the ground station computer 100 and the UAV such asUAV 2 in FIG. 1. The payload processing system 107 processes any payloaddata received from the UAV control system 51, (shown in FIG. 2), orpayload commands from the ground station computer 100. The payloadprocessing system 107 may also be connected directly to CPU 105 or theground station computer 100. Data from the payload processing system107, CPU 105, or the ground station computer 100 is sent through theground transmitter/receiver 108. The ground transmitter/receiver 108also receives data from the UAV control system 51 (shown in FIG. 2). Inan embodiment an RC controller 110 in electronic communication with theground control station 8 (shown in FIG. 1) may be provided. The CPU 105may also be connected to an RC unit 110 with RC antenna 111 that can beused to control the UAV 3 (shown in FIG. 1) using RC signals.

Access Management System.

Illustrated in FIG. 4 is an embodiment of an access management system 87in accordance with the present invention. The access management system87 includes an authentication management module 120, and authorizationmanagement module 121, a user repository module 122 and a usermanagement module 123.

Authentication is a process by which a system verifies the identity of aUser who wishes to access it. Since access control is normally based onthe identity of the User who requests access to a resource,authentication is essential. The process normally consists of foursteps:

1. The user makes a claim of identity.

2. The system challenges the user to prove his or her identity.

3. The user responds to the challenge by providing the requested proof.

4. The system verifies that the user has provided acceptable proof.

There are several ways to authenticate a person or information on acomputer. One way of authenticating a person is through the use of auser name and password. The user enters the user's name and passwordwhen prompted by the system. The authentication management module 120checks the pair against a secure file to confirm. If either the name orthe password does not match, then the user is not allowed furtheraccess. A more sophisticated form of authentication may include someform of biometrics for authentication. Biometrics uses biologicalinformation to verify identity. Biometric authentication methodsinclude: fingerprint scan; retina scan; face scan; and voiceidentification.

The authentication management module 120 is the module through which auser provides sufficient credentials to gain initial access to anapplication system or a particular resource. Once a user isauthenticated, a session is created and referred during the interactionbetween the user and the application system until the user logs off orthe session is terminated by other means (e.g. timeout). Theauthentication management module 120 usually comes with a passwordservice module when the userid/password authentication method is used.

The authorization management module 121 is the module that determineswhether a user is permitted to provide input to UAV control system 51.The level of authorization of a user is determined by examining theadditional properties (metadata) associated with the user's account. Forexample, data associated with a user may indicate if they are a memberof a given group such as “Owner,” “Administrator,” “Manager,” “Operator”or “Customer”, or it may indicate that they are still within a timeinterval or geographic location for access.

Authorization is performed by checking the resource access requestagainst authorization policies that are stored in a policy store 124 ofthe access management system 87. The authorization management module 121is the core module that implements role-based access control. Moreover,the authorization model could provide complex access controls based ondata or information or policies including user attributes, userroles/groups, actions taken, access channels, time, resources requested,external data and mission rules. Authorization management module 121provides the functionality to create the authorization rules. Forexample, it may allow an administrator to create a rule to allow anotheruser to have control of a UAV to perform a specified mission. Thedetermination of whether the user has authorization may be based on oneor more criteria such as the role of the user, a membership of the userin a group, a location of the user, a time and a transaction type.Authorization management may use parameters such as predefined groups,predefined roles, predefined privileges and predefined permissions todefine these rules.

The user repository module 122 may store and deliver identityinformation to other services, and provide service to verify credentialssubmitted from users.

The user management module 123 is comprised of user management, passwordmanagement, role/group management and user/group provisioningfunctionality. The user management module 123 defines the set ofadministrative functions such as identity creation, propagation, andmaintenance of user identity and privileges.

Mission Policy Management System.

Illustrated in FIG. 5 is the mission policy management system 89. Themission policy management system 89 may include a mission informationsubsystem 125 and an environment subsystem 126. The mission informationsubsystem 125 and the environment subsystem 126 are coupled to a missiondecision engine 127. Mission decision engine 127 may be coupled to anartificial intelligence module 128.

The mission information subsystem 125 may include a mission profilemodule 129 that stores and processes mission profile informationrelating to the type of mission such as reconnaissance, attack, payloaddelivery, and the like. Associated with each mission profile will be aset of mission parameters such as regions that must be visited oravoided, time constraints, time of year, flight altitude, flightlatitude, and payload mass and power, initial position of the target,direction of a target, and flight path, among others.

The mission information subsystem 125 may include a checklist module 130that stores and processes checklists to ensure that the UAV isperforming correctly during flight. Prior to and during operation, theunmanned vehicle may undergo one or more verification procedures thatare performed according to one or more corresponding checklists. Thechecklists in the checklist module 130 generally include a sequence ofvarious operating parameters to be verified for proper functionalityand/or control actions to be taken once required operational parametershave been achieved. For example, a particular checklist implementedprior to take off may include verification of the unmanned vehicle'sfuel supply and other suitable operating parameters. In addition to achecklist implemented for use with takeoff, other checklists may beimplemented for other tasks performed by unmanned vehicles, such as achange in flight plan, or in response to specific events or situationsthat may arise during any particular mission.

The mission information subsystem 125 may also include a policies module131. Policies module 131 may include a set of policies related to thelevel of control to be provided to a user that has been authorized bythe access management system 87. Parameters for policies may include UAVand target location, customer and operator preferences, UAV status (e.g.power, type, etc.), next mission on the list, available resources andthe like.

The environment subsystem 126 may include a UAV state module 132 whichmay include information about the state of the UAV such as power,payload capacity, distance to user, location and the like.

The environment subsystem 126 may also include a UAV environment modulewhich may include information about the environment in which the UAV isoperating such as weather, threat level and the like.

The environment subsystem 126 may also include a user environment modulewhich may include information about the environment in which theground-based user is operating, such as weather, location, terrain,threat level and the like.

The mission information subsystem 125 and the environment subsystem 126may be coupled to the mission decision engine 127 configured to receivemission parameters from the mission information subsystem 125, fetch aplurality of mission plans from the mission profile module 129, andselect one of the plurality of mission profiles based upon the currentrequirements and the environmental parameters. The mission decisionengine 127 may access a rules database (not shown) that provides rulesto the mission decision engine 127.

The artificial intelligence module 128 may include an inference engine,a memory (not shown) for storing data from the mission decision engine127, heuristic rules, and a knowledge base memory (not shown) whichstores network information upon which the inference engine draws. Theartificial intelligence module 128 is configured to apply a layer ofartificial intelligence to the mission profiles stored in the missionprofile module 129 to develop relationships between mission parametersto perform and improve the assessments, diagnoses, simulations,forecasts, and predictions that form the mission profile. The artificialintelligence module 128 recognizes if a certain action (implementationof mission parameters) achieved a desired result (successfullyaccomplishing the mission). The artificial intelligence module 128stores this information and attempts the successful action the next timeit encounters the same situation. The mission policy management system89 may be incorporated in the UAV or may be a component of the network12.

Illustrated in FIG. 6 is an embodiment of a method 200 for controllingan unmanned vehicle such as a UAV.

In step 201 the UAV control system 51 receives a request from a user foraccess to the UAV control system 51.

In step 202 the access management system determines whether to grantaccess to the user. The determination to grant depends on whether theuser group is an open or closed user group. A closed user group is apredetermined group of users that have been granted access to the UAVcontrol system 51. An open user group is a group of users whose accessis determined by an access management system 87. In that case, theaccess management system 87 controls access to resources based onpredetermined criteria. In one embodiment the criteria may be identity.The identity is usually unique in order to support individualaccountability and may include a username, a device id or the like. Toprovide access to the control system the identity must be authenticated.Authentication is the process for confirming the identity of the user.The typical authentication process allows the system to identify theuser (typically via a username), and then validate their identitythrough user-provided evidence such as a password. Authentication may beprovided by something a person is, has or does. For exampleauthentication may be accomplished by the use of biometrics, passwords,passphrase, token or other private information. After authentication adetermination must be made as to whether the user is authorized toaccess the system. The decision of whether or not to allow users toaccess the UAV control system 51 is based on access criteria.Authorization determines that the proven identity has some set ofcharacteristics associated with it that gives it the right to access therequested resources. The different access criteria can be broken up intodifferent types, roles, groups, location, time, and transaction types.For example, access to the control system may also be controlled by thejob assignment or function (i.e., the role) of the user who is seekingaccess. Using groups is a way of assigning access control rights. Ifseveral users require the same type of access to the control system andresources, putting them into a group and then assigning rights andpermissions to that group is easier to manage than assigning rights andpermissions to each and every individual separately. Access to controlsystem may be based upon physical location of the user. Time-of-dayrestrictions are another type of limitation on access. Mission-basedrestrictions can be used to control access to the system based on themission requested by the user.

In step 203 the access management system 87 may provide the user with anaccess code that may be time and location limited.

In step 204 the access management system 87 may receive a set ofalternate mission parameters that define an alternate mission that theuser desires to be implemented by the UAV (such as UAV 3 in FIG. 1).

In step 205 the access management system 87 may determine whether thealternate mission may be performed. This determination may be based oninformation stored in the mission information subsystem 125. Theinformation stored in the mission information subsystem 125 may includemission profiles, checklists, and mission policies. The informationabout mission profiles may include information about prior decisions toperform other missions. The determination may also be based oninformation stored in the environment subsystem 126. The informationstored in the environment subsystem 126 may include information aboutthe state of the UAV such as for example the location of the UAV, theUAV type, power remaining, payload capacity, distance to user and thelike. The information stored in the environment subsystem 126 mayinclude information about the UAV environment, such as weather, terrain,threat environment and the like. The information stored in theenvironment subsystem 126 may also include information about the userenvironment such as weather, terrain, threat environment and the like.

In step 206 the mission decision engine 127 decides whether thealternate mission can be performed. The decision of whether to performthe alternate mission is based in part on information provided by theartificial intelligence module 128 which includes computer algorithmsthat improve automatically through experience and through the analysisand processing of previous mission parameters.

If the alternate mission can be performed, then in step 207 the controlsystem may send an acknowledgment to the user that the alternate missionwill be performed.

In step 208 the control system causes the UAV to perform the alternatemission.

In step 209 the control system may send the user an estimated time ofarrival for the UAV at the secondary mission location.

In step 210 the control system may store information about the alternatemission for use by the artificial intelligence module 128 in decidingabout future missions.

If the alternate mission cannot be performed, then in step 211 thecontrol system may identify a second UAV (e.g. UAV 2 in FIG. 1) that maybe capable of performing the alternate mission and send alternatemission parameters to UAV 2.

FIG. 7 illustrates an embodiment of a method 215 for authenticating andauthorizing a user.

In step 216 the UAV control system 51 receives a request for access.

In step 217 the UAV control system 51 receives a user ID.

In step 218 the UAV control system 51 authenticates the user.

In step 219 the UAV control system 51 determines whether the user isauthenticated.

If the user is authenticated, then in step 220 the UAV control system 51determines whether the user has authorization to change the missionparameters for the UAV.

If the user is not authenticated, then in step 221 the UAV continueswith its original mission.

In step 222 the UAV control system 51 determines whether the user isauthorized to change the mission parameters.

If the user is authorized to change the mission parameters, then in step223 UAV control system 51 receives the new mission parameters.

If the user is not authorized to change the mission parameters, then instep 224 the UAV continues with this original mission.

FIG. 8 is a flow chart illustrating a method 250 for authorizing analternate mission in an unmanned vehicle such as a UAV.

In step 251 the UAV control system 51 determines the UAV state.

In step 252 the UAV control system 51 determines the UAV staterequirements for an alternate mission.

In step 253 the UAV control system 51 determines whether the UAV statepermits implementation of the alternate mission.

If the UAV state does not permit the implementation of the alternatemission, then the alternate mission is aborted in step 254.

If the UAV state permits the implementation of the alternate missionthen in step 255 UAV control system 51 determines the UAV environment.

In step 256 the UAV control system 51 determines the UAV environmentrequirements for the alternate mission.

In step 257 UAV control system 51 determines whether the UAV environmentrequirements for the alternate mission permit implementation of thealternate mission.

If the UAV environment requirements for the alternate mission do notpermit the implementation of the alternate mission then the alternatemission is aborted in step 258.

If the UAV environment requirements for the alternate mission permit theimplementation of the alternate mission then in step 259 the UAV controlsystem compares the alternate mission parameters against a set ofpre-established policies.

In step 260 the UAV control system 51 determines whether thepre-established policies permit the alternate mission.

If the pre-established policies permit the alternate mission then instep 261 the UAV control system 51 implements the alternate mission.

If the pre-established policies do not permit the alternate mission thenin step 262 the UAV control system 51 continues with the currentmission.

In an example of an embodiment of, a user receives a package from ashipping company. While the UAV is in the vicinity the user requestsaccess to the UAV to have it come to a given location and pick up apackage. The request for access may be accomplished either dynamicallythrough an Over The Top (OTT) application or directly communicating withthe operator of the ground control station 8. The customer receives anauthorization code from the access management system 87 that would allowaccess within a limited time in certain location. Once the UAV receivesthe mission parameters from the user, the mission policy managementsystem 89 determines whether to perform the alternate mission takinginto account mission parameters such as available resources (for exampleremaining power, package size limitations), priority setting (existingmission versus or combined new mission), weather and other variables.The mission policy management system 89 either sends acknowledgment toperform the alternate mission or as an option sends the missionparameters to other available UAVs in the vicinity that are equipped andwilling to perform the task either with the same agreement as theexisting UAV (from same company for same fees) or sending anacknowledgment with added fees (for 3rd party company).

In an example of an embodiment, the system may be deployed in asituation where a scout team is investigating an area. The head of scoutteam sends a request to military UAVs in the area to fly over a locationahead and send information (sensory reading, picture, etc.) to therequester. A UAV in the vicinity receives the information, grants accessto the requester to communicate the mission parameters to the UAV. TheUAV checks with its policy to determine the ranking of the requestor vsexisting request and makes intelligent decision to either accept themission fly over and preform the alternate mission or send the missionrequest to other UAVs it is in communication with to complete the task.Parameters that may be analyzed include location, security level andoperator preferences, UAV status (power, type, etc.), next mission onthe list, and available resources. If the UAV is unable to perform thealternate mission the UAV will communicate with other UAVs in the areato enable determination of a UAV that can carry out the alternatemission. If the UAV can carry out the alternate mission then the UAVcontrol system will grant access to the controls of the UAV withlimitations such as time, access level location and level of access. Incase that a secondary UAV will perform the task, the first UAV willcommunicate the ETA and detail to the requestor and log the informationfor future references.

Although not every conceivable combination of components andmethodologies for the purposes describing the present invention havebeen set out above, the examples provided will be sufficient to enableone of ordinary skill in the art to recognize the many combinations andpermutations possible in respect of the present invention. Accordingly,this disclosure is intended to embrace all such alterations,modifications and variations that fall within the spirit and scope ofthe appended claims. For example, numerous methodologies forauthentication and authorization are known in the art and any sort ofauthentication and authorization method are encompassed within theconcepts of authentication and authorization.

In particular and in regard to the various functions performed by theabove described components, devices, circuits, systems and the like, theterms (including a reference to a “means”) used to describe suchcomponents are intended to correspond, unless otherwise indicated, toany component which performs the specified function of the describedcomponent (e.g., a functional equivalent), even though not structurallyequivalent to the disclosed structure, which performs the function inthe herein illustrated exemplary aspects of the embodiments. In thisregard, it will also be recognized that the embodiments includes asystem as well as a computer-readable medium having computer-executableinstructions for performing the acts and/or events of the variousmethods.

In addition, while a particular feature may have been disclosed withrespect to only one of several implementations, such feature may becombined with one or more other features of the other implementations asmay be desired and advantageous for any given or particular application.Furthermore, to the extent that the terms “includes,” and “including”and variants thereof are used in either the detailed description or theclaims, these terms are intended to be inclusive in a manner similar tothe term “comprising.”

What is claimed:
 1. A method comprising: receiving at an unmanned aerialvehicle control system in an unmanned aerial vehicle that isimplementing a first mission under control of a first user using a firstuser device, a request from a second user using a second user device foraccess to the unmanned aerial vehicle to perform an alternate mission;verifying in an authentication management module an identity of thesecond user; determining in an authorization management module, adetermination of whether the second user is permitted to provide inputto the unmanned aerial vehicle based on the alternate mission, identityof the second user, authentication of the second user and authorizationof the second user; if the determination is made to grant access thenreceiving alternate mission parameters for the alternate mission fromthe second user device; accessing an environment subsystem having anunmanned aerial vehicle state module, an unmanned aerial vehicleenvironment module and a user environment module; accessing anartificial intelligence module that develops relationships betweenmission parameters to perform and improve assessments, diagnoses,simulations, forecasts, and predictions that form a mission profile;determining in a mission decision engine in the unmanned aerial vehiclecontrol system a decision of whether to implement the alternate missionbased on a set of predetermined policies, data from the artificialintelligence module a state of the unmanned aerial vehicle, informationabout where the unmanned aerial vehicle is operating, and informationabout where the second user is operating; if the decision is toimplement the alternate mission then instructing the unmanned aerialvehicle control system to implement the alternate mission under controlof the second user; saving the alternate mission parameters; and if thedecision is not to implement the alternate mission, then continuing withthe first mission.
 2. The method of claim 1 wherein the set ofpredetermined policies comprise one or more parameters selected fromamong a group comprising: location of the unmanned aerial vehicle,target location, user preferences, status of the unmanned aerialvehicle, next mission on a list, and available resources.
 3. The methodof claim 1 wherein determining whether the second user is permitted toprovide input to the unmanned aerial vehicle comprises determiningwhether the second user has authorization based on at least one criteriaselected from among a role of the second user, a membership of thesecond user in a group, a location of the second user, a time, and atransaction type.
 4. The method of claim 1 wherein the state of theunmanned aerial vehicle comprises information about power, payloadcapacity, distance to the second user and location.
 5. The method ofclaim 1 wherein the information about where the unmanned aerial vehicleis operating comprises information about weather, location, terrain, andthreat level.
 6. The method of claim 1 wherein saving the alternatemission parameters comprises saving the alternate mission parameters ina data store accessible by the artificial intelligence module.
 7. Asystem comprising: an unmanned vehicle; an unmanned vehicle controlsystem disposed in the unmanned vehicle that controls the unmannedvehicle and that while the unmanned vehicle is under control of a firstuser, is configured to receive a request from a second user for accessto the unmanned vehicle to perform an alternate mission; an accessmanagement system disposed in the unmanned vehicle that controls accessby the second user to the unmanned vehicle control system; and a missionpolicy management system coupled to the unmanned vehicle control systemcomprising: a mission information subsystem having: a checklist modulethat stores and processes checklists to ensure that the unmanned vehicleis performing correctly; a policies module having a set of policiesrelated to a level of control to be provided to a user; an environmentinformation subsystem having: a vehicle state module; a vehicleenvironment module; and a user environment module; an artificialintelligence module including an inference engine, a memory for storingheuristic rules and network information; and a mission decision enginecoupled to the mission information subsystem, the environmentinformation subsystem, and the artificial intelligence module configuredto determine whether to implement the alternate mission based on a setof predetermined policies, data from the artificial intelligence module,state of the unmanned vehicle, information about where the unmannedvehicle is operating, and information about where the second user isoperating.
 8. The system of claim 7 wherein the mission informationsubsystem comprises a mission profile module that stores and processesmission profile information.
 9. The system of claim 8 wherein themission decision engine is configured to receive mission parameters fromthe mission information subsystem.
 10. The system of claim 7 wherein thevehicle state module stores information about power, payload capacity,distance to user and location.
 11. The system of claim 7 wherein thevehicle environment module stores information about an environment inwhich the unmanned vehicle is operating.
 12. A method of controlling anunmanned vehicle controlled by a first user comprising: determining at acontrol system in the unmanned vehicle whether a second user hasauthorization to control the unmanned vehicle; if the second user hasauthorization, then receiving alternate mission parameters from thesecond user; determining in a mission decision engine whether to performan alternate mission based on input from an artificial intelligencemodule coupled to the mission decision engine, the alternate missionparameters, a set of policies, information about a state of the unmannedvehicle, information about where the unmanned aerial vehicle isoperating, and information about where the second user is operating; ifit is determined that the alternate mission should be performed, then:performing the alternate mission; and storing the alternate missionparameters; and if it is determined that the alternate mission shouldnot be performed then determining in the mission decision engine whetherthere is a second unmanned vehicle that may be capable of performing thealternate mission.
 13. The method of controlling an unmanned vehicle ofclaim 12 wherein the set of policies comprise a set of hierarchicalsecurity policies.
 14. The method of controlling an unmanned vehicle ofclaim 12 wherein the information about the state of the unmanned vehiclecomprises information about available power, payload capacity, anddistance to user.
 15. The method of controlling an unmanned vehicle ofclaim 12 further comprising storing information from the step ofdetermining whether to perform the alternate mission.
 16. The method ofcontrolling an unmanned vehicle of claim 15 wherein determining whetherto perform the alternate mission comprises accessing a store ofinformation about prior decisions to perform other missions anddetermining whether to perform the alternate mission based on storedinformation about prior decisions to perform other missions.
 17. Themethod of controlling an unmanned vehicle of claim 16 whereindetermining whether to perform the alternate mission based on storedinformation about prior decisions to perform other missions is performedby the artificial intelligence module.